Combined pick-and-place device

Abstract

An embodiment of the present invention provides a combined pick-and-place device, which includes a frame and a clamping mechanism and a suction mechanism arranged on the frame. The suction mechanism is arranged adjacent to the clamping mechanism and includes a suction component and an elastic component. Specifically, the suction component is configured to rise and fall relative to a carrier to pick up and place products on the carrier. The suction component includes a connector, which is connected to the frame. At least a portion of the elastic component is connected to the connector, and the elastic component includes a pre-stressed spring, which is in a compressed state. Therefore, by providing the elastic component, it is possible to prevent overpressure from damaging the product. At the same time, the combination of the clamping mechanism and the suction mechanism enables the device to have both the functions of picking up and placing the carrier and picking up and placing the product, and is reliable and practical. In addition, the structure is simple and compact, easy to adjust, and highly versatile.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic material taking and placing, and in particular to a combined taking and placing device. Background Art

[0002] The field of automation today often involves the handling of products and carriers. Typically, two separate robots are required to handle both carrier and product handling, which takes up a lot of space and is costly. Therefore, a device that can handle both carrier and product handling is urgently needed. Summary of the Invention

[0003] In view of this, the object of the present invention is to provide a combined pick-and-place device that realizes the functions of both picking up and placing carriers and picking up and placing products through two sets of mechanisms.

[0004] An embodiment of the present invention provides a combined pick-and-place device, which includes: a frame, which is configured to be connected to a driving part to drive the combined pick-and-place device to move; a clamping mechanism, which is arranged on the frame; a suction mechanism, which is arranged adjacent to the clamping mechanism, and the suction mechanism includes: a suction assembly, which is configured to rise and fall relative to the carrier to pick up and place products on the carrier, and the suction assembly includes a connecting piece, which is connected to the frame; an elastic assembly, at least a portion of the elastic assembly is connected to the connecting piece, and the elastic assembly includes a pre-stressed spring, which is in a compressed state.

[0005] Furthermore, the frame includes a first mounting plate; the clamping mechanism includes: a first driving member, which is arranged at the bottom of the first mounting plate; a clamping claw, which is connected to the first driving member, and the clamping claw includes two, and the first driving member drives the two clamping claws to move closer to / away from each other to clamp / release the carrier.

[0006] Furthermore, the clamping mechanism also includes: a supporting member, which is connected to the bottom of the first driving member housing, and the supporting member extends outward relative to the housing of the first driving member to form a first extension portion; and a pressing component, which is connected to the first extension portion, and the pressing component is configured to move up and down along an upper surface perpendicular to the carrier to tighten / release the carrier.

[0007] Furthermore, the pressing assembly includes: a guide sleeve, the guide sleeve includes a main body and a mounting portion protruding radially outward along the main body, the mounting portion is limitedly set above the first extension portion, a penetrating mounting hole is formed on the first extension portion, and the main body extends downward through the mounting hole; a pressure column, at least a portion of the pressure column is arranged in the guide hole of the guide sleeve.

[0008] Further, the pressing component further includes: a buffer member sleeved on the pressing column. The pressing column can move up and down relative to the guide sleeve. A pressing portion is formed by the bottom of the pressing column protruding radially outward. One end of the buffer member is connected to the bottom of the guide sleeve, and the other end is connected to the pressing portion.

[0009] Further, the frame further includes a connecting column disposed above the first mounting plate of the frame and a second mounting plate disposed above the connecting column; the material suction mechanism further includes: a rotating platform disposed at the bottom of the second mounting plate, the rotating platform being connected to the material suction component; a third driving member disposed at the top of the second mounting plate and connected to the rotating platform.

[0010] Further, the material suction component includes: a second driving member disposed at the bottom of the rotating platform, the connecting member being connected to the second driving member, and the elastic component being disposed at the bottom of the connecting member; a connecting seat connected to the elastic component; a mounting seat connecting the connecting seat; and a plurality of suction cups disposed at the bottom of the mounting seat.

[0011] Further, the connecting seat includes a first portion connected to the elastic component and a second portion formed by bending and extending from the bottom end of the first portion, the second portion being connected to the mounting seat; the connecting seat further includes a second extension portion extending from the top end of the first portion toward the connecting member, and a pressure sensor is provided on the second extension portion.

[0012] Further, there is a gap between the pressure sensor and the connecting member; the elastic component further includes: a first fastening member connected to the rotating platform; a second fastening member connected to the first fastening member; and the preloading spring is disposed between the first fastening member and the second fastening member.

[0013] Further, the first fastening member is formed into a "C" - shaped structure. The "C" - shaped structure includes a first connecting portion, a bent portion formed by bending and extending from one end of the first connecting portion, and a limiting portion formed by bending and extending from the end of the bent portion. The top of the first connecting portion is connected to the second driving member, and the bottom is connected to one end of the preloading spring; the second fastening member includes a fastening portion and a second connecting portion formed by bending and extending from one end of the fastening portion. The fastening portion is connected to the other end of the preloading spring, the second connecting portion is connected to the mounting seat, the fastening portion is matched with the limiting portion, and the fastening portion can float up and down relative to the limiting portion.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects:

[0015] 1. An embodiment of the present invention provides a combined pick-and-place device comprising a frame, a gripping mechanism, and a suction mechanism mounted on the frame. The gripping mechanism is used to pick up and place carriers, while the suction mechanism can be raised and lowered relative to the carrier to pick up and place products on the carrier. The combination of the gripping mechanism and the suction mechanism enables the device to perform both the functions of picking up and placing carriers and products, offering the advantage of high versatility.

[0016] 2. The suction assembly of the combined pick-and-place device of the embodiment of the present invention includes a connector connected to an elastic assembly. The elastic assembly includes a pre-compression spring. Since the pre-compression spring is in a compressed state, the elastic assembly and the suction assembly are prevented from moving up and down when the entire device is running idle or when the suction mechanism sucks the product and rises, thereby improving the stability of the device operation.

[0017] 3. The suction mechanism of the combined pick-and-place device of the embodiment of the present invention is further provided with a pressure sensor, and a gap exists between the pressure sensor and the connecting piece. When the suction cup of the suction assembly contacts the product, the product generates an upward reaction force on the suction cup. This reaction force drives the pressure sensor upward until it contacts the connecting piece. The pressure sensor detects the force value and feeds it back to the terminal. When the force value rises to a certain threshold, the terminal controls the combined pick-and-place device to stop moving downward, thereby preventing the suction cup from continuing to move downward and crushing the product, thereby improving the reliability of the device operation.

[0018] 4. The elastic component of the combined picking and placing device of the embodiment of the present invention also includes a first fastening part connected to the frame and a second fastening part connected to the first fastening part. The pre-compression spring is arranged between the first fastening part and the second fastening part. When the suction cup of the suction component contacts the product, the reaction force generated by the product on the suction cup drives the pressure sensor toward the connecting part. At this time, the second fastening part can be separated from the first fastening part, and the second fastening part continues to float upward to further compress the pre-compression spring. The compression spring plays a role in protecting the pressure sensor, and the pressure sensor detects the suction cup pressure, and then controls the device and the suction cup to continue to move downward, which plays a role in protecting the pressure sensor and the product, and further improves the reliability of the device operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0020] Figure 1 1 is a schematic structural diagram of a combined pick-and-place device provided in an embodiment of the present invention;

[0021] Figure 2 is a structural diagram of a rack provided by an embodiment of the present invention;

[0022] Figure 3 1 is a schematic diagram of the working state of the combined pick-and-place device provided by an embodiment of the present invention;

[0023] Figure 4 is a structural schematic diagram of a clamping mechanism provided by an embodiment of the present invention;

[0024] Figure 5 1 is a structural diagram of a material suction mechanism provided in an embodiment of the present invention;

[0025] Figure 6 is a structural schematic diagram of a first fastening member provided by an embodiment of the present invention;

[0026] Figure 7 Schematic diagram of the structure of the second fastening member provided by an embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1-frame; 11-first mounting plate; 12-connecting column; 13-second mounting plate; 131-avoidance groove; 2-gripping mechanism; 21-first driving member; 22-clamping claw; 23-carrying member; 231-first extension portion; 24-pressing assembly; 241-pressing column; 2411-pressing portion; 2412-stopper; 242-buffer; 243-guide sleeve; 2431-mounting portion; 2432-body; 3-suction mechanism; 31-second driving member; 32-elastic assembly; 321-first buckle Parts; 3211-first connecting part; 3212-bending part; 3213-limiting part; 322-second fastening part; 3221-fastening part; 3222-second connecting part; 323-preload spring; 33-suction cup; 34-carrier; 341-slide rail assembly; 35-connecting seat; 351-first part; 352-second part; 353-second extension part; 36-mounting seat; 37-connecting part; 38-pressure sensor; 39-rotating platform; 30-third driving part; A-carrier; B-product. DETAILED DESCRIPTION

[0029] The present invention is described below based on the following embodiments, but the present invention is not limited to these embodiments. In the detailed description of the present invention below, certain specific details are described in detail. Those skilled in the art can fully understand the present invention without these details. To avoid obscuring the essence of the present invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0030] Unless the context clearly requires otherwise, words like “include”, “comprising” and the like in the specification should be interpreted as including rather than exclusive or exhaustive; that is, as “including but not limited to”.

[0031] In the description of the present invention, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0032] Figure 1 Schematic diagram of the structure of the combined pick-and-place device provided by the embodiment of the present invention. Figure 1 As shown, the combined pick-and-place device includes a frame 1, a clamping mechanism 2 and a suction mechanism 3. The clamping mechanism 2 is arranged on the frame 1, and the suction mechanism 3 is arranged adjacent to the clamping mechanism 2. It should be noted that the combined pick-and-place device in this embodiment is connected to the driving part through the frame 1, so that the combined pick-and-place device is driven to move by the driving part. For example, the driving part is a manipulator, and the manipulator is connected to the frame 1. In other words, the combined pick-and-place device moves under the driving action of the manipulator. Specifically, Figure 2 Schematic diagram of the structure of the rack provided by the embodiment of the present invention, such as Figure 2 As shown, the frame 1 includes a first mounting plate 11, a connecting column 12 and a second mounting plate 13. The lower end of the connecting column 12 is connected to the first mounting plate 11, and the upper end of the connecting column 12 is connected to the second mounting plate 13. Furthermore, the clamping mechanism 2 is installed at the bottom of the first mounting plate 11, and the suction mechanism 3 is installed on the second mounting plate 13. Specifically, an avoidance groove 131 is formed on the second mounting plate 13, and the suction mechanism 3 is arranged on the second mounting plate 13 through the avoidance groove 131. It should be noted that, in one embodiment, there are four connecting columns 12 and they are evenly spaced, and the suction mechanism 3 is arranged on the second mounting plate 13 through the gaps between the connecting columns 12, so as to be cross-distributed with the clamping mechanism 2, so that the device structure is more compact. In other words, by combining the clamping mechanism 2 and the suction mechanism 3, the combined pick-and-place device can have the functions of picking up and placing the carrier A and picking up and placing the product B, thereby enhancing the practicality of the device.

[0033] Furthermore, the suction mechanism 3 includes a suction component and an elastic component 32. Specifically, the suction component is configured to rise and fall relative to the carrier A to pick up and place the product B on the carrier A. It should be noted that the suction component includes a connector 37, and the connector 37 is connected to the frame 1. Further, at least a portion of the elastic component 32 is connected to the connector 37. It should be further noted that the elastic component 32 includes a pre-compression spring 323, and the pre-compression spring 323 is in a compressed state. It is easy to understand that the pre-compression spring 323 is in a pre-compression state when it is set. For example, the pre-compression amount can be set to 20%. Since the pre-compression spring 323 is in a compressed state, the elastic component 32 and the suction component can be prevented from moving up and down during the entire device running idle or the suction mechanism 3 sucking the product B up, thereby improving the stability of the device operation.

[0034] Figure 3 Schematic diagram of the working state of the combined pick-and-place device provided by the embodiment of the present invention. Figure 3 As described above, the clamping mechanism 2 includes a first driving member 21 and a clamping jaw 22. The first driving member 21 is arranged at the bottom of the first mounting plate 11, and the two clamping jaws 22 are respectively connected to the first driving member 21, so that they can synchronously reciprocate under the drive of the first driving member 21, so that the two clamping jaws 22 move closer to / away from each other to clamp / release the carrier A. It should be noted that the first driving member 21 is a bidirectional cylinder to achieve synchronous control of the two clamping jaws 22. As an optional embodiment, a high-strength rubber is provided on the inside of the clamping jaw 22 to help prevent damage to the carrier A when the clamping jaw 22 clamps the carrier A.

[0035] Figure 4 Schematic diagram of the structure of the clamping mechanism provided by the embodiment of the present invention. Figure 4 As shown, the clamping mechanism 2 further includes a carrier 23 and a pressing assembly 24. The carrier 23 is connected to the bottom of the housing of the first driving member 21 and extends outward relative to the housing of the first driving member 21 to form a first extension 231. The pressing assembly 24 is connected to the first extension 231. Figure 3 As shown, when the robot drives the combined pick-and-place device to move toward the carrier A, it can drive the pressing assembly 24 to move up and down along the upper surface perpendicular to the carrier A to press / release the carrier A.

[0036] like Figure 4 As shown, in one embodiment, the pressing assembly 24 includes a guide sleeve 243 and a pressure column 241. Specifically, the guide sleeve 243 includes a body 2432 and a mounting portion 2431 that protrudes radially outward along the body 2432. The mounting portion 2431 is limitedly arranged above the first extension portion 231. A through mounting hole is formed on the first extension portion 231, and the body 2432 extends downward through the mounting hole on the first extension portion 231. It should be noted that the guide sleeve 243 has a guide hole that matches the pressure column 241, and at least a portion of the pressure column 241 is disposed in the guide hole of the guide sleeve 243. In other words, the guide sleeve 243 is sleeved on the pressure column 241 and is disposed on the carrier 23 through the mounting portion 2431.

[0037] like Figure 4As shown, in one embodiment, the pressing assembly 24 further includes a buffer 242. Specifically, the buffer 242 is sleeved on the pressing column 241, and the pressing column 241 can move up and down relative to the guide sleeve 243. Furthermore, the bottom of the pressing column 241 protrudes radially outward to form a pressing portion 2411, and one end of the buffer 242 is connected to the bottom of the guide sleeve 243 and the other end is connected to the pressing portion 2411. That is to say, before the clamping claw 22 of the clamping mechanism 2 grabs the carrier A, the entire device can drive the pressing column 241 to move toward the carrier A, from the corresponding Figure 4 In the embodiment, under the action of the driving part, the pressure column 241 moves downward until the pressing part 2411 presses against the carrier A. By providing the pressure column 241, the carrier A can be prevented from sliding when being grasped by the clamp 22, thereby improving the reliability and working efficiency of the device. It is worth noting that the pressure column 241 will be subjected to the reaction force exerted on it by the carrier A when it continues to move downward. This reaction force causes the pressure column 241 to slide upward relative to the guide sleeve 243, compressing the buffer 242. The provision of the buffer 242 can avoid the rigid contact between the pressure column 241 and the carrier A, thereby protecting the carrier. The buffer 242 in this embodiment is a spring and is sleeved on the pressure column 241; there are four pressure columns 241 and they are evenly spaced apart, and each pressure column 241 is sleeved with a buffer 242. As a result, the pressing assembly 24 can press four areas on the carrier A at the same time, thereby ensuring that the carrier A is fixed so that the clamp 22 can grasp it.

[0038] like Figure 4 As shown, in one embodiment, a stopper 2412 is provided at the top of the pressure column 241. Specifically, when the buffer member 242 utilizes elastic force to drive the pressure column 241 to move, the stopper 2412 can abut against the mounting portion 2431, thereby preventing the pressure column 241 from sliding out of the guide sleeve 243. It should be noted that the stopper 2412 is detachably provided at the top of the pressure column 241 to ensure that the pressing assembly 24 can be installed.

[0039] like Figure 5 As described, in one embodiment, the suction mechanism 3 further includes a rotating platform 39 and a third driving member 30. The rotating platform 39 is provided at the bottom of the second mounting plate 13 and is connected to the suction assembly, and the third driving member 30 is provided at the top of the second mounting plate 13 and is connected to the rotating platform 39. It should be noted that the third driving member 30 is a motor. Exemplarily, the adjustment angle of the rotating platform 39 is ±15°. Thus, when the third driving member 30 drives the rotating platform 39 to rotate, the rotating platform 39 can drive the suction assembly to deflect, thereby realizing the angle adjustment of the suction assembly for picking up and placing product B, so as to calibrate the point of picking up and placing product B, so that the device has a certain degree of adjustability.

[0040] like Figure 5As shown, in one embodiment, the suction assembly includes a second driving member 31, a connecting base 35, a mounting base 36, and multiple suction cups 33. The second driving member 31 is located at the bottom of the rotating platform 39, a connecting member 37 is connected to the second driving member 31, and an elastic component 32 is located at the bottom of the connecting member 37. Furthermore, the connecting base 35 is connected to the elastic component 32, the mounting base 36 is connected to the connecting base 35, and multiple suction cups 33 are located at the bottom of the mounting base 36. It should be noted that the second driving member 31 is a sliding cylinder. Furthermore, the second driving member 31 sequentially drives the elastic component 32 and the multiple suction cups 33 to contact the product B placed on the carrier A. It should be noted that the elastic component 32 acts as a buffer when the suction cups 33 contact the product B, preventing the suction cups 33 from directly impacting the product B and causing damage to the product B. It is easy to understand that the suction cups 33 are made of an elastic material to prevent damage to the product B. Multiple suction cups 33 can be included to facilitate the suction of multiple products B at once.

[0041] like Figure 5 As shown, in one embodiment, the connecting seat 35 includes a first portion 351 connected to the elastic component 32 and a second portion 352 formed by bending and extending the bottom end of the first portion 351, and the second portion 352 is connected to the mounting seat 36. Furthermore, the connecting seat 35 also includes a second extension portion 353 extending from the top end of the first portion 351 toward the connecting member 37, and a pressure sensor 38 is provided on the second extension portion 353. When the suction cup 33 of the suction component contacts the product B, the product B generates an upward reaction force on the suction cup 33. The reaction force drives the pressure sensor 38 to move upward until it contacts the connecting member 37. The pressure sensor 38 detects the force value and feeds it back to the terminal. When the force value rises to a certain threshold, the terminal controls the combined pick-up and place device to stop moving downward, thereby preventing the suction cup 33 from continuing to move downward and crushing the product B, thereby improving the reliability of the device operation.

[0042] like Figure 5As shown, in one embodiment, there is a gap between the pressure sensor 38 and the connecting member 37. It should be noted that the gap between the pressure sensor 38 and the connecting member 37 is approximately 0.3 - 0.5 millimeters. Further, the elastic component 32 further includes a first fastening member 321 and a second fastening member 322. The first fastening member 321 is connected to the rotating platform 39, and the second fastening member 322 is connected to the first fastening member 321. Furthermore, the preloading spring 323 is disposed between the first fastening member 321 and the second fastening member 322. It is easy to understand that since the rotating platform 39 is connected to the frame 1, the first fastening member 321 is connected to the frame 1. When the suction cup 33 of the material suction component contacts the product B, the reaction force generated by the product B on the suction cup 33 causes the pressure sensor 38 to move towards the connecting member 37. At this time, the second fastening member 322 can be separated relative to the first fastening member 321, and the second fastening member 322 continues to float upward to further compress the preloading spring 323. The compression spring 323 plays a role in protecting the pressure sensor 38, and the pressure sensor 38 detects the pressure of the suction cup 33, and then controls the device and the suction cup 33 to continue to move downward. On the one hand, it plays a role in protecting the pressure sensor and the product, and further improves the reliability of the device operation.

[0043] Figure 6 is a schematic structural view of the first fastening member provided by an embodiment of the present invention, as Figure 6 shown, in one embodiment, the first fastening member 321 is formed into a "C" - shaped structure. The "C" - shaped structure includes a first connecting portion 3211, a bent portion 3212 formed by bending and extending from one end of the first connecting portion 3211, and a limiting portion 3213 formed by bending and extending from the end of the bent portion 3212. The top of the first connecting portion 3211 is connected to the second driving member 31, and the bottom is connected to one end of the preloading spring 323. Correspondingly, Figure 7 is a schematic structural view of the second fastening member provided by an embodiment of the present invention, as Figure 7As shown, the second fastening member 322 includes a fastening portion 3221 and a second connecting portion 3222 formed by bending and extending one end of the fastening portion 3221. The fastening portion 3221 is connected to the other end of the preload spring 323, and the second connecting portion 3222 is connected to the mounting seat 36. The fastening portion 3221 cooperates with the limiting portion 3213 and can float up and down relative to the limiting portion 3213. It is easy to understand that the preload spring 323 in this embodiment can use its compression force to drive the fastening portion 3221 to engage with the limiting portion 3213, thereby driving the second fastening member 322 toward the first fastening member 321. When the second driving member 31 drives the first fastening member 321 via the first connecting portion 3211, the first fastening member 321 pushes the second fastening member 322 to move via the preload spring 323, thereby driving the multiple suction cups 33 to move and contact the product B on the carrier A, allowing the suction cups 33 to absorb the product B. It should be noted that when the suction cup 33 contacts and absorbs product B, the second fastening part 322 will be forced to move toward the first fastening part 321, and the pre-compression spring 323 will be further compressed. At this time, the pre-compression spring 323 can not only play a buffering role to protect product B, but also use elastic force to prevent the suction component from shaking during movement, thereby ensuring that the suction cup 33 can absorb product B.

[0044] like Figure 5 As shown, in one embodiment, the suction assembly further includes a carrier 34. Specifically, the carrier 34 is provided on the second driving member 31 and is connected to the first connecting portion 3211, so that the second driving member 31 can drive the first fastening member 321 to move through the carrier 34. Furthermore, the connecting seat 35 is connected to the second connecting portion 3222. It should be noted that the connecting seat 35 is configured to be L-shaped, so that the contact area can be increased to enhance the connection strength. Thus, when the first fastening member 321 is moved under force, the second fastening member 322 moves under the action of the pre-compression spring 323, and drives the connecting seat 35 to move synchronously, thereby driving the mounting seat 36 to move, so that the suction cup 33 on the mounting seat 36 can contact and absorb the product B. As shown Figure 5 As shown, as an optional embodiment, a slide rail assembly 341 is provided on the carrier 34, and the connecting base 35 is slidably connected to the carrier 34 through the slide rail assembly 341, thereby ensuring that the connecting base 35 can move stably.

[0045] like Figure 5As shown, in one embodiment, the connecting member 37 is provided on the carrier 34 and is connected to the first connecting portion 3211. When the second driving member 31 drives the carrier 34 to move, the first fastening member 321 can be driven to move through the connecting member 37. Furthermore, the pressure sensor 38 is provided between the connecting member 37 and the connecting seat 35. When the suction cup 33 contacts the product B, the connecting seat 35 moves accordingly and cooperates with the connecting member 37 to apply pressure to the pressure sensor 38, thereby realizing monitoring of the pressure value through the pressure sensor 38 to prevent the product B from being damaged by excessive force. As an optional embodiment, a through hole is provided on the first connecting portion 3211, and the pre-compression spring 323 can pass through the first fastening member 321 and abut against the connecting member 37.

[0046] When the combined pick-and-place device provided in an embodiment of the present invention is in operation, a robotic arm first moves toward carrier A, which holds product B. At this point, the buffer member 242 causes the stopper 2412 at the upper end of the pressure column 241 to abut against the mounting portion 2431 of the guide sleeve 243. The preload spring 323 causes the snapping portion 3221 of the second snapping member 322 to abut against the limiting portion 3213 of the first snapping member 321. As the device moves downward, the pressing portion 2411 of the pressure column 241 first contacts carrier A. As the device continues to move downward, the pressure column 241 moves upward relative to the guide sleeve 243, compressing the buffer member 242 and thereby securing carrier A using elastic force. At this point, the first drive member 21 drives the clamping jaws 22 to open and close, thereby clamping and positioning carrier A.

[0047] After carrier A is clamped and positioned, the third drive element 30 first drives the rotating platform 39 to adjust the pick-up and placement angle of the suction cup 33. The second drive element 31 then drives the elastic assembly 32, the suction assembly, and other related components toward product B. When the suction cup 33 contacts product B, the second latching member 322 moves relative to the first latching member 321, further compressing the preload spring 323. The reaction force exerted by product B on the suction cup 33 causes the pressure sensor 38 to contact the connector 37. Once the pressure detected by the pressure sensor 38 reaches a predetermined value, the second drive element 31 stops, and the suction cup 33 begins to absorb product B through the pneumatic system. After the suction cup 33 has absorbed product B, the second drive element 31 resets, causing product B to rise. At this point, the second latching member 322 also resets under the action of the preload spring 323. Finally, the first drive element 21 opens the jaws 22, placing carrier A into the flow line. The absorbed product B is then placed in the designated position, completing the device's operation.

[0048] An embodiment of the present invention provides a combined pick-and-place device, which includes a frame 1 and a clamping mechanism 2 and a suction mechanism 3 arranged on the frame 1. The suction mechanism 2 is arranged adjacent to the clamping mechanism 3 and includes a suction component and an elastic component 32. Specifically, the suction component is configured to rise and fall relative to the carrier A to pick up and place the product B on the carrier A. The suction component includes a connector 37, which is connected to the frame 1. At least a portion of the elastic component 32 is connected to the connector 37, and the elastic component 32 includes a pre-stressed spring 323, which is in a compressed state. Therefore, by providing the elastic component 32, overpressure damage to the product can be prevented. At the same time, the combination of the clamping mechanism 2 and the suction mechanism 3 enables the device to have the functions of picking up and placing the carrier A and picking up and placing the product B, with reliable operation and strong practicality, and a simple and compact structure, easy adjustment, and high versatility.

[0049] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A combined pick-and-place device, characterized in that: The combined pick-and-place device comprises: A frame (1), the frame (1) being configured to be connected to a driving portion to drive the combined pick-and-place device to move; A clamping mechanism (2), the clamping mechanism (2) being arranged on the frame (1); A material suction mechanism (3), the material suction mechanism (3) being arranged adjacent to the clamping mechanism (2), the material suction mechanism (3) comprising: A suction assembly, the suction assembly being configured to be lifted up and down relative to the carrier (A) to pick up and place the product (B) on the carrier (A), the suction assembly comprising a connecting member (37), the connecting member (37) being connected to the frame (1); an elastic component (32), at least a portion of the elastic component (32) being connected to the connecting member (37), the elastic component (32) comprising a pre-compression spring (323), and the pre-compression spring (323) being in a compressed state; Wherein, the elastic component (32) further includes: a first fastening member (321), the first fastening member (321) being connected to the connecting member (37); a second fastening member (322), the second fastening member (322) being connected to the first fastening member (321); The pre-compression spring (323) is provided between the first fastening member (321) and the second fastening member (322).

2. The combined pick-and-place device according to claim 1, characterized in that: The frame (1) includes a first mounting plate (11); The clamping mechanism (2) comprises: a first driving member (21), the first driving member (21) being arranged at the bottom of the first mounting plate (11); A clamping jaw (22), the clamping jaw (22) is connected to the first driving member (21), the clamping jaw (22) comprises two clamping jaws (22), and the first driving member (21) drives the two clamping jaws (22) to move closer to / away from each other to clamp / release the carrier (A).

3. The combined pick-and-place device according to claim 2, characterized in that: The clamping mechanism (2) further comprises: a supporting member (23), the supporting member (23) being connected to the bottom of the housing of the first driving member (21), and the supporting member (23) extending outward relative to the housing of the first driving member (21) to form a first extension portion (231); and A pressing assembly (24), the pressing assembly (24) is connected to the first extension portion (231), and the pressing assembly (24) is configured to move up and down along an upper surface perpendicular to the carrier (A) to tighten / release the carrier (A).

4. The combined pick-and-place device according to claim 3, characterized in that: The pressing component (24) comprises: A guide sleeve (243), the guide sleeve (243) comprising a body (2432) and a mounting portion (2431) protruding radially outward along the body (2432), the mounting portion (2431) being positionally disposed above the first extension portion (231), a through mounting hole being formed on the first extension portion (231), and the body (2432) extending downward through the mounting hole; A pressure column (241), at least a portion of which is disposed in the guide hole of the guide sleeve (243).

5. The combined pick-and-place device according to claim 4, characterized in that: The pressing assembly (24) further includes: A buffer member (242) is sleeved on the pressure column (241). The pressure column (241) can move up and down relative to the guide sleeve (243). A pressing portion (2411) is formed by the bottom of the pressure column (241) protruding radially outward. One end of the buffer member (242) is connected to the bottom of the guide sleeve (243), and the other end is connected to the pressing portion (2411).

6. The combined pick-and-place device according to claim 1, characterized in that: The machine frame (1) further includes a connecting column (12) disposed above the first mounting plate (11) of the machine frame (1) and a second mounting plate (13) disposed above the connecting column (12); The material suction mechanism (3) further includes: A rotating platform (39) is disposed at the bottom of the second mounting plate (13). The rotating platform (39) is connected to the material suction assembly; A third driving member (30) is disposed at the top of the second mounting plate (13) and is connected to the rotating platform (39).

7. The combined pick-and-place device according to claim 6, characterized in that: The material suction assembly includes: A second driving member (31) is disposed at the bottom of the rotating platform (39). A connecting member (37) is connected to the second driving member (31). An elastic component (32) is disposed at the bottom of the connecting member (37); A connecting seat (35) is connected to the elastic component (32); A mounting seat (36) connects the connecting seat (35); A plurality of suction cups (33) are disposed at the bottom of the mounting seat (36).

8. The combined pick-and-place device according to claim 7, characterized in that: The connecting seat (35) includes a first portion (351) connected to the elastic component (32) and a second portion (352) formed by bending and extending from the bottom end of the first portion (351). The second portion (352) is connected to the mounting seat (36); The connecting seat (35) further includes a second extension portion (353) extending from the top end of the first portion (351) toward the connecting member (37). A pressure sensor (38) is disposed on the second extension portion (353).

9. The combined pick-and-place device according to claim 8, characterized in that: There is a gap between the pressure sensor (38) and the connecting member (37).

10. The combined pick-and-place device according to claim 9, characterized in that: The first fastening member (321) is formed into a "C" - shaped structure. The "C" - shaped structure includes a first connecting portion (3211), a bending portion (3212) formed by bending and extending from one end of the first connecting portion (3211), and a limiting portion (3213) formed by bending and extending from the end of the bending portion (3212). The top of the first connecting portion (3211) is connected to the second driving member (31), and the bottom is connected to one end of the pre - pressure spring (323); The second fastening member (322) includes a fastening portion (3221) and a second connecting portion (3222) formed by bending and extending one end of the fastening portion (3221), the fastening portion (3221) is connected to the other end of the preload spring (323), and the second connecting portion (3222) is connected to the mounting seat (36), the fastening portion (3221) cooperates with the limiting portion (3213), and the fastening portion (3221) can float up and down relative to the limiting portion (3213).

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